73 out << states_.size() << " goal states, threshold = " << threshold_ << ", memory address = " << this << std::endl;
84 throw Exception("There are no goals to sample");
90 // Increment the counter. Do NOT roll over incase a new state is added before sampleGoal is called again.
112 throw Exception("Index " + std::to_string(index) + " out of range. Only " + std::to_string(states_.size()) +
double distanceGoal(const State *st) const override
Compute the distance to the goal (heuristic). This function is the one used in computing the distance...
virtual bool hasStates() const
Check if there are any states in this goal region.
unsigned int maxSampleCount() const override
Return the maximum number of samples that can be asked for before repeating.
virtual std::size_t getStateCount() const
Return the number of valid goal states.
virtual void addState(const State *st)
Add a goal state.
void sampleGoal(State *st) const override
Sample a state in the goal region.
void print(std::ostream &out=std::cout) const override
Print information about the goal data structure to a stream.
virtual void clear()
Clear all goal states.
virtual const State * getState(unsigned int index) const
Return a pointer to the indexth state in the state list.
StateType * get()
Returns a pointer to the contained state.